CN111604637A - Welding robot based on mechanical vision - Google Patents
Welding robot based on mechanical vision Download PDFInfo
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- CN111604637A CN111604637A CN202010501605.4A CN202010501605A CN111604637A CN 111604637 A CN111604637 A CN 111604637A CN 202010501605 A CN202010501605 A CN 202010501605A CN 111604637 A CN111604637 A CN 111604637A
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- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
- B23K37/0533—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor external pipe alignment clamps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to a welding robot, in particular to a welding robot based on mechanical vision, which comprises a device support, moving mechanisms, pulling supports, a transverse moving support, clamping mechanisms and an outer welding mechanism.
Description
Technical Field
The invention relates to a welding robot, in particular to a welding robot based on mechanical vision.
Background
For example, publication No. CN103551772A discloses a welding robot device, which belongs to the technical field of automatic welding. The device comprises a welding robot body, a welding machine, a welding wire tank and a gun cleaning device, and further comprises a welding robot external shaft movement device and a welding positioner, wherein the welding robot external shaft movement device is arranged on one side of the welding positioner, and the welding robot body is arranged on the welding robot external shaft movement device; the invention has the disadvantage that the inner wall and the outer wall of the pipe cannot be welded simultaneously.
Disclosure of Invention
The invention aims to provide a welding robot based on mechanical vision, which can simultaneously weld the inner wall and the outer wall of a pipe.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a welding robot based on machine vision, includes device support, moving mechanism, pulling support, sideslip support, clamping mechanism and outer welding mechanism, moving mechanism is provided with four, four equal fixed connection of moving mechanism are on the device support, pulling mechanism is provided with two, two pulling mechanism difference fixed connection are both ends around the device support, one side of pulling support fixed connection device support, two pulling mechanism tip are all connected on the pulling support, the sideslip support is provided with two, two sideslip supports are all connected on the device support, two sideslip supports are located between two pulling mechanisms, the pulling support can pass two sideslip supports, be connected with clamping mechanism on two sideslip supports, the outer welding mechanism of middle part fixedly connected with of device support.
According to the welding robot based on the mechanical vision, the device support comprises a frame, a sliding track, a mounting frame I, a mounting frame II, a mounting frame III, a sliding waist hole and a wire passing hole I, the sliding track is fixedly connected to the left end and the right end of the inner side of the frame, the mounting frame I is fixedly connected to the rear end of the frame, the mounting frame II is fixedly connected to the front end of the frame, the mounting frame III is fixedly connected to the middle of the frame, the sliding waist hole is formed in the mounting frame III, and the wire passing hole I is formed in the mounting frame II.
As a further optimization of the technical scheme, the welding robot based on the mechanical vision comprises a moving mechanism and a welding robot frame, wherein the moving mechanism comprises a moving support, a moving motor, moving wheels and a moving motor II, the moving support is fixedly connected to an output shaft of the moving motor, the moving support is rotatably connected with three moving wheels, the three moving wheels are in transmission connection, the moving motor II is fixedly connected to the moving support, an output shaft of the moving motor II is in transmission connection with one of the moving wheels, and the front end and the rear end of each of two sides of the welding robot frame are fixedly connected with the moving motor.
According to the technical scheme, the welding robot based on the mechanical vision comprises a telescopic mechanism I, a pulling motor, a pulling drum, a spiral groove, a steel wire rope and a connecting column I, wherein the pulling motor is fixedly connected with the telescopic end of the telescopic mechanism I, the pulling drum is fixedly connected onto an output shaft of the pulling motor, the spiral groove is formed in the pulling drum, the steel wire rope is placed in the spiral groove, one end of the steel wire rope is fixedly connected onto the pulling drum, the connecting column I is fixedly connected onto the other end of the steel wire rope, and the telescopic mechanism I is fixedly connected onto the mounting frame I and the mounting frame II.
As a further optimization of the technical scheme, the welding robot based on the mechanical vision comprises a connecting disc, a wire passing hole II, sliding cylinders, sliding columns, a mounting bottom plate, a telescopic mechanism II, a connecting column II and a mounting sleeve I, wherein the connecting disc is fixedly connected to the mounting frame I, the wire passing hole II is arranged on the connecting disc, two steel wire ropes respectively pass through the wire passing hole I and the wire passing hole II, the wire passing hole I and the wire passing hole II are coaxially arranged, the connecting disc is fixedly connected with the two sliding cylinders, the sliding columns are respectively and slidably connected in the two sliding cylinders, the two sliding columns are respectively and fixedly connected to the mounting bottom plate, the telescopic mechanism II is fixedly connected to the mounting bottom plate, the mounting sleeve I is fixedly connected to the telescopic end of the telescopic mechanism II, the connecting column II is rotatably connected to the mounting bottom plate, one of the two connecting columns I is detachably, another spliced pole I demountable connection is on the mounting plate.
As a further optimization of the technical scheme, the welding robot based on the mechanical vision comprises a transverse moving support, a transverse moving ring, a transverse moving motor and a rotating motor, wherein the transverse moving ring is fixedly connected to the transverse moving support, an output shaft of the transverse moving motor is connected to the transverse moving support through threads, the rotating motor is fixedly connected to the transverse moving support, the transverse moving motor is fixedly connected to the front end and the rear end of a frame, the transverse moving ring and a line passing hole II are coaxially arranged, and the transverse moving support is connected between two sliding rails in a sliding mode.
As a further optimization of the technical scheme, the welding robot based on the mechanical vision comprises a clamping ring, a gear ring, a clamping threaded disc, arc plates and clamping plates, wherein the gear ring is fixedly connected to the clamping ring, the clamping threaded disc is rotatably connected to the clamping ring, the four arc plates are fixedly connected to the clamping ring, the four clamping plates are slidably connected between the four arc plates and are all connected to the clamping threaded disc through threads, worm-shaped threads are arranged on the clamping threaded disc, the clamping rings are rotatably connected to the two transverse moving rings, and two rotating motors are respectively in meshing transmission with the two gear rings.
As a further optimization of the technical scheme, the welding robot based on the mechanical vision comprises an outer welding mechanism and a welding mechanism, wherein the outer welding mechanism comprises an adjusting motor, a telescopic mechanism III and an installation sleeve II, the adjusting motor is fixedly connected to an installation frame III, the telescopic mechanism III is connected to an output shaft of the adjusting motor through threads, the telescopic mechanism III is connected to a sliding waist hole in a sliding mode, and the installation sleeve II is fixedly connected to an output shaft of the telescopic mechanism III.
As a further optimization of the technical scheme, the welding robot based on the mechanical vision is characterized in that welding heads can be detachably and fixedly connected to the mounting sleeve I and the mounting sleeve II.
The welding robot based on the mechanical vision has the beneficial effects that:
according to the welding robot based on the mechanical vision, the four moving mechanisms can drive the device to move, the two clamping mechanisms can clamp pipes with different diameters, the relative distance between the two pipes can be adjusted by transversely moving the support, the two pulling mechanisms can drive the pulling support to slide in the two pipes, the position of the pulling support is adjusted, and the outer welding mechanism and the pulling support can simultaneously weld the inner wall and the outer wall of the joint between the two pipes, so that the welding strength is increased.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.
FIG. 1 is a schematic view of the overall structure of a welding robot based on mechanical vision according to the present invention;
FIG. 2 is a schematic view of the device support structure of the present invention;
FIG. 3 is a schematic view of the moving mechanism of the present invention;
FIG. 4 is a schematic view of the pulling mechanism of the present invention;
FIG. 5 is a schematic view of the pulling yoke construction of the present invention;
FIG. 6 is a schematic view of a traversing carriage configuration of the present invention;
FIG. 7 is a schematic structural view of a clamping mechanism of the present invention;
FIG. 8 is a schematic structural view of a cross-sectional view of a clamping mechanism of the invention;
fig. 9 is a schematic structural view of an external welding mechanism of the present invention.
In the figure: a device holder 1; a frame 101; a slide rail 102; the mounting frame I103; a mounting rack II 104; a mounting rack III 105; a sliding waist hole 106; a wire through hole I107; a moving mechanism 2; a mobile support 201; a moving motor 202; a moving wheel 203; a moving motor II 204; a pulling mechanism 3; a telescoping mechanism I301; a pull motor 302; pulling the reel 303; a helical groove 304; a wire rope 305; connecting a column I306; pulling the bracket 4; a connecting disc 401; a wire through hole II 402; a slide cylinder 403; a sliding post 404; a mounting base plate 405; a telescoping mechanism II 406; connecting a column II 407; an installation sleeve I408; a bracket 5 is transversely moved; a bottom plate 501 is transversely moved; a traverse ring 502; a traverse motor 503; a rotating motor 504; a clamping mechanism 6; a clamping ring 601; a ring gear 602; clamping the threaded disc 603; an arc plate 604; a clamping plate 605; an outer welding mechanism 7; adjusting the motor 701; a telescoping mechanism III 702; and a sleeve II 703 is installed.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1-9, a welding robot based on mechanical vision comprises a device support 1, a moving mechanism 2, a pulling mechanism 3, a pulling support 4, a traverse support 5, a clamping mechanism 6 and an outer welding mechanism 7, wherein the moving mechanism 2 is provided with four, four moving mechanisms 2 are fixedly connected to the device support 1, two pulling mechanisms 3 are provided, two pulling mechanisms 3 are respectively and fixedly connected to the front end and the rear end of the device support 1, the pulling support 4 is fixedly connected to one side of the device support 1, the end parts of the two pulling mechanisms 3 are respectively connected to the pulling support 4, two traverse supports 5 are provided, two traverse supports 5 are connected to the device support 1, the two traverse supports 5 are positioned between the two pulling mechanisms 3, the pulling support 4 can pass through the two traverse supports 5, the clamping mechanism 6 is connected to the two traverse supports 5, the middle part of the device bracket 1 is fixedly connected with an external welding mechanism 7; can move through the 2 drive arrangement of four moving mechanism, construct 6 through two clamping and carry out the clamping to different diameters and tubular product, can adjust the relative distance between two tubular products through sideslip support 5, construct 3 through two pulling and drive pulling support 4 and slide in the inside of two tubular products, adjust the position of pulling support 4, outer welding mechanism 7 welds with pulling support 4 to the inner wall and the outer wall of meeting the department between two tubular products simultaneously, increases welding strength.
The second embodiment is as follows:
the following describes this embodiment with reference to fig. 1 to 9, and this embodiment further describes the first embodiment, the device bracket 1 includes a frame 101, a sliding rail 102, an installation frame i 103, an installation frame ii 104, an installation frame iii 105, a sliding waist hole 106 and a wire passing hole i 107, the sliding rail 102 is fixedly connected to both ends of the left and right sides of the inner side of the frame 101, the installation frame i 103 is fixedly connected to the rear end of the frame 101, the installation frame ii 104 is fixedly connected to the front end of the frame 101, the installation frame iii 105 is fixedly connected to the middle of the frame 101, the sliding waist hole 106 is arranged on the installation frame iii 105, and the wire passing hole i 107 is arranged on the installation frame.
The third concrete implementation mode:
the following describes the present embodiment with reference to fig. 1 to 9, and the second embodiment is further described in the present embodiment, the moving mechanism 2 includes a moving bracket 201, a moving motor 202, moving wheels 203 and a moving motor ii 204, the moving bracket 201 is fixedly connected to an output shaft of the moving motor 202, three moving wheels 203 are rotatably connected to the moving bracket 201, the three moving wheels 203 are in transmission connection, the moving motor ii 204 is fixedly connected to the moving bracket 201, an output shaft of the moving motor ii 204 is in transmission connection with one of the moving wheels 203, and both front and rear ends of both sides of the frame 101 are fixedly connected with the moving motor 202.
The fourth concrete implementation mode:
the following describes the present embodiment with reference to fig. 1 to 9, and the third embodiment is further described, where the pulling mechanism 3 includes a telescoping mechanism i 301, a pulling motor 302, a pulling reel 303, a spiral groove 304, a steel wire rope 305 and a connecting column i 306, the telescoping end of the telescoping mechanism i 301 is fixedly connected with the pulling motor 302, the output shaft of the pulling motor 302 is fixedly connected with the pulling reel 303, the spiral groove 304 is formed in the pulling reel 303, the steel wire rope 305 is placed in the spiral groove 304, one end of the steel wire rope 305 is fixedly connected to the pulling reel 303, the other end of the steel wire rope 305 is fixedly connected with the connecting column i 306, and the telescoping mechanisms i 301 are fixedly connected to the mounting rack i 103 and the mounting rack.
The fifth concrete implementation mode:
the fourth embodiment is described below with reference to fig. 1 to 9, and the fourth embodiment is further described, where the pulling bracket 4 includes a connection pad 401, a wire passing hole ii 402, a sliding cylinder 403, a sliding column 404, a mounting base plate 405, a telescoping mechanism ii 406, a connection column ii 407, and a mounting sleeve i 408, the connection pad 401 is fixedly connected to the mounting frame i 103, the connection pad 401 is provided with the wire passing hole ii 402, two steel cables 305 respectively pass through the wire passing hole i 107 and the wire passing hole ii 402, the wire passing hole i 107 and the wire passing hole ii 402 are coaxially arranged, the connection pad 401 is fixedly connected with the two sliding cylinders 403, the sliding columns 404 are slidably connected in the two sliding cylinders 403, the two sliding columns 404 are fixedly connected to the mounting base plate 405, the telescoping mechanism ii 406 is fixedly connected to the mounting base plate 405, the telescoping end of the telescoping mechanism ii 406 is fixedly connected to the mounting sleeve i 408, the mounting base plate 405 is, one of the two connecting columns I306 is detachably connected to the connecting column II 407, and the other connecting column I306 is detachably connected to the mounting base plate 405.
The sixth specific implementation mode:
the present embodiment is described below with reference to fig. 1 to 9, and the fifth embodiment is further described in the present embodiment, the traverse bracket 5 includes a traverse bottom plate 501, a traverse ring 502, a traverse motor 503 and a rotation motor 504, the traverse bottom plate 501 is fixedly connected with the traverse ring 502, an output shaft of the traverse motor 503 is connected to the traverse bottom plate 501 through a screw thread, the rotation motor 504 is fixedly connected to the traverse bottom plate 501, the traverse motor 503 is fixedly connected to both front and rear ends of the frame 101, the traverse ring 502 and the thread passing hole ii 402 are coaxially arranged, and the traverse bottom plate 501 is slidably connected between the two sliding rails 102.
The seventh embodiment:
the present embodiment is described below with reference to fig. 1 to 9, and the sixth embodiment is further described in the present embodiment, where the clamping mechanism 6 includes a clamping ring 601, a gear ring 602, a clamping thread disc 603, an arc plate 604 and a clamping plate 605, the clamping ring 601 is fixedly connected with the gear ring 602, the clamping ring 601 is rotatably connected with the clamping thread disc 603, the clamping ring 601 is fixedly connected with four arc plates 604, four clamping plates 605 are slidably connected between the four arc plates 604, the four clamping plates 605 are all connected to the clamping thread disc 603 through threads, the clamping thread disc 603 is provided with worm-shaped threads, the two traverse rings 502 are rotatably connected with the clamping ring 601, and the two rotating motors 504 are respectively in meshing transmission with the two gear rings 602.
The specific implementation mode is eight:
the present embodiment is described below with reference to fig. 1 to 9, and the seventh embodiment is further described in the present embodiment, where the outer welding mechanism 7 includes an adjusting motor 701, a telescopic mechanism iii 702, and a mounting sleeve ii 703, the adjusting motor 701 is fixedly connected to the mounting bracket iii 105, the telescopic mechanism iii 702 is connected to an output shaft of the adjusting motor 701 through a thread, the telescopic mechanism iii 702 is slidably connected to the sliding waist hole 106, and the mounting sleeve ii 703 is fixedly connected to an output shaft of the telescopic mechanism iii 702.
The specific implementation method nine:
in the following, the present embodiment is described with reference to fig. 1 to 9, and the eighth embodiment is further described, wherein welding joints are detachably and fixedly connected to both the mounting sleeve i 408 and the mounting sleeve ii 703.
The invention relates to a welding robot based on mechanical vision, which has the working principle that:
when the device is used, the moving motor II 204 is started, the output shaft of the moving motor II 204 starts to rotate, the output shaft of the moving motor II 204 drives one of the moving wheels 203 to rotate, the three moving wheels 203 are in transmission connection, the three moving wheels 203 on the four moving mechanisms 2 rotate to drive the device to move, and when the device needs to cross obstacles to a certain extent, the moving motor 202 is started, the output shaft of the moving motor 202 drives the moving support 201 to rotate, and the moving support 201 drives the three moving wheels 203 which are rotatably connected with the moving support 201 to revolve, so that the device has certain obstacle crossing capability; one of the two connecting columns I306 is detachably connected to the connecting column II 407, the other connecting column I306 is detachably connected to the mounting base plate 405, the connecting column I306 on the connecting column II 407 is detached, the connection between the connecting column II 407 and the connecting column I306 can be set to be threaded connection, the mounting base plate 405 is rotatably connected with the connecting column II 407, the connecting column II 407 is rotated to detach the connecting column II 407 from the connecting column I306, two pipes to be welded are respectively placed on the two clamping mechanisms 6, the connecting column I306 is connected to the connecting column II 407 through threads, the pulling bracket 4 is located inside the pipes, the clamping threaded disc 603 is rotated, the clamping threaded disc 603 drives the four clamping plates 605 to move through spiral threads, the four clamping plates 605 are close to or far away from each other, the four clamping plates 605 lean against each other to clamp the corresponding pipes thereon, the transverse moving motor 503 is started, an output shaft of the transverse moving motor 503 starts to rotate, the output shaft of the transverse moving motor 503 pushes the transverse moving bottom plates 501 to slide between the two sliding rails 102 through threads, the two transverse moving bottom plates 501 are close to each other, the two transverse moving bottom plates 501 drive the two clamping mechanisms 6 to be close to each other, the two clamping mechanisms 6 respectively drive the pipes clamped on the clamping mechanisms to be close to each other, and the inner sides of the two pipes are in contact; the two pulling motors 302 are started, the output shafts of the two pulling motors 302 start to rotate, the output shafts of the two pulling motors 302 respectively drive the two pulling drums 303 to rotate, the two pulling drums 303 respectively store and release the steel wire ropes 305 connected to the two pulling drums 303, the inner ends of the two steel wire ropes 305 drive the mounting bottom plate 405 to move, the mounting bottom plate 405 drives the two sliding columns 404 to slide in the two sliding cylinders 403, the position of the telescopic mechanism II 406 is adjusted, welding heads can be detachably and fixedly connected to the mounting sleeve I408 and the mounting sleeve II 703, the position of the welding head mounted on the mounting sleeve I408 is adjusted, the traverse ring 502 and the wire passing hole II 402 are coaxially arranged, the wire passing hole I107 and the wire passing hole II 402 are coaxially arranged, when the output shafts of the pulling motors 302 rotate to receive and release the steel wire ropes 305, in order to accurately position the mounting sleeve I408, the telescopic mechanism I301 is started at the same time, the telescopic mechanism I301, the telescopic mechanism II 406 and the telescopic mechanism III 702 can be hydraulic cylinders or electric push rods, the telescopic end of the telescopic mechanism I301 moves to drive the pulling motor 302 to move, the pulling motor 302 drives the pulling drum 303 to move, and when the pulling drum 303 releases the steel wire rope 305, the steel wire rope 305 is in a concentric state when passing through the corresponding wire passing hole I107 or the corresponding wire passing hole II 402, the steel wire rope 305 is ensured to be in a vertical state, because the length of the steel wire rope 305 paid out by each rotation of the pulling reel 303 is equal, the length of the steel wire rope 305 extending can be controlled by controlling the rotation number of the pulling reel 303, the length of the corresponding telescopic end of the telescopic mechanism I301 is changed when the pulling reel 303 rotates, if the winding drum 303 is pulled to rotate for a circle, the telescopic end of the telescopic mechanism I301 is changed in the rotating distance of the spiral groove 304, and the accuracy of the extending length of the steel wire rope 305 is guaranteed; after the position of the mounting sleeve I408 is adjusted according to the position between the two pipe connectors, the adjusting motor 701 is started, the output shaft of the adjusting motor 701 drives the telescopic mechanism III 702 to slide in the sliding waist hole 106 through threads, the position of the telescopic mechanism III 702 is adjusted, the telescopic end of the telescopic mechanism III 702 drives the mounting sleeve II 703 to move, the outer welding mechanism 7 and the pulling support 4 weld the inner wall and the outer wall of the joint between the two pipes at the same time, and the welding strength is increased.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (9)
1. The utility model provides a welding robot based on machine vision, includes device support (1), moving mechanism (2), pulling mechanism (3), pulling support (4), sideslip support (5), clamping machine structure (6) and outer welding mechanism (7), its characterized in that: moving mechanism (2) are provided with four, four equal fixed connection of moving mechanism (2) are on device support (1), pulling mechanism (3) are provided with two, two pulling mechanism (3) are fixed connection both ends around device support (1) respectively, one side of pulling support (4) fixed connection device support (1), two pulling mechanism (3) tip are all connected on pulling support (4), sideslip support (5) are provided with two, two sideslip supports (5) are all connected on device support (1), two sideslip supports (5) are located between two pulling mechanisms (3), two sideslip supports (5) can be passed in pulling support (4), be connected with clamping mechanism (6) on two sideslip supports (5), outer welding mechanism (7) of the middle part fixedly connected with of device support (1).
2. The welding robot based on the mechanical vision as claimed in claim 1, wherein: device support (1) is including frame (101), slip track (102), mounting bracket I (103), mounting bracket II (104), mounting bracket III (105), slip waist hole (106) and cross line hole I (107), the equal fixedly connected with slip track (102) in both ends about frame (101) inboard, the rear end fixedly connected with mounting bracket I (103) of frame (101), the front end fixedly connected with mounting bracket II (104) of frame (101), the middle part fixedly connected with mounting bracket III (105) of frame (101), be provided with slip waist hole (106) on mounting bracket III (105), be provided with on mounting bracket II (104) and cross line hole I (107).
3. The welding robot based on the mechanical vision as claimed in claim 2, wherein: moving mechanism (2) are including moving support (201), moving motor (202), remove wheel (203) and moving motor II (204), moving support (201) fixed connection is on the output shaft of moving motor (202), it is connected with three removal wheel (203) to rotate on moving support (201), the transmission is connected between three removal wheel (203), moving motor II (204) fixed connection is on moving support (201), the output shaft and one of them removal wheel (203) transmission of moving motor II (204) are connected, the equal fixedly connected with moving motor (202) in both ends around frame (101) both sides.
4. The welding robot based on the mechanical vision as claimed in claim 3, wherein: pulling mechanism (3) are including telescopic machanism I (301), pulling motor (302), pulling reel (303), helicla flute (304), wire rope (305) and spliced pole I (306), flexible end fixedly connected with pulling motor (302) of telescopic machanism I (301), fixedly connected with pulling reel (303) on the output shaft of pulling motor (302), be provided with helicla flute (304) on pulling reel (303), wire rope (305) have been placed in helicla flute (304), the one end fixed connection of wire rope (305) is on pulling reel (303), the other end fixedly connected with spliced pole I (306) of wire rope (305), equal fixedly connected with telescopic machanism I (301) on mounting bracket I (103) and mounting bracket II (104).
5. The welding robot based on the mechanical vision as claimed in claim 4, wherein: the pulling support (4) comprises a connecting disc (401), a wire passing hole II (402), sliding cylinders (403), sliding columns (404), a mounting base plate (405), a telescopic mechanism II (406), a connecting column II (407) and a mounting sleeve I (408), wherein the connecting disc (401) is fixedly connected to the mounting frame I (103), the connecting disc (401) is provided with the wire passing hole II (402), two steel wire ropes (305) respectively pass through the wire passing hole I (107) and the wire passing hole II (402), the wire passing hole I (107) and the wire passing hole II (402) are coaxially arranged, the connecting disc (401) is fixedly connected with the two sliding cylinders (403), the sliding columns (404) are respectively and slidably connected in the two sliding cylinders (403), the two sliding columns (404) are respectively and fixedly connected to the mounting base plate (405), the mounting base plate (405) is fixedly connected with the telescopic mechanism II (406), and the telescopic end of the telescopic mechanism II (406) is fixedly connected with the mounting sleeve, the mounting base plate (405) is rotatably connected with a connecting column II (407), one of the two connecting columns I (306) is detachably connected to the connecting column II (407), and the other connecting column I (306) is detachably connected to the mounting base plate (405).
6. The welding robot based on the mechanical vision as claimed in claim 5, wherein: the transverse moving support (5) comprises a transverse moving bottom plate (501), a transverse moving ring (502), a transverse moving motor (503) and a rotating motor (504), the transverse moving ring (502) is fixedly connected to the transverse moving bottom plate (501), an output shaft of the transverse moving motor (503) is connected to the transverse moving bottom plate (501) through threads, the rotating motor (504) is fixedly connected to the transverse moving bottom plate (501), the transverse moving motor (503) is fixedly connected to the front end and the rear end of the frame (101), the transverse moving ring (502) and the line passing hole II (402) are coaxially arranged, and the transverse moving bottom plate (501) is connected between the two sliding rails (102) in a sliding mode.
7. The welding robot based on the mechanical vision as claimed in claim 6, wherein: clamping mechanism (6) is including clamping ring (601), ring gear (602), clamping thread dish (603), arc board (604) and clamping plate (605), fixedly connected with ring gear (602) on clamping ring (601), it is connected with clamping thread dish (603) to rotate on clamping ring (601), four arc boards (604) of fixedly connected with on clamping ring (601), sliding connection has four clamping board (605) between four arc boards (604), four clamping board (605) all are on clamping thread dish (603) through threaded connection, be provided with snail form screw thread on clamping thread dish (603), it is connected with clamping ring (601) all to rotate on two sideslip rings (502), two are rotated motor (504) and are engaged with two ring gear (602) transmission respectively.
8. The welding robot based on the mechanical vision as claimed in claim 7, wherein: outer welding mechanism (7) are including adjusting motor (701), telescopic machanism III (702) and installation cover II (703), and adjusting motor (701) fixed connection is on mounting bracket III (105), has telescopic machanism III (702) through threaded connection on the output shaft of adjusting motor (701), and telescopic machanism III (702) sliding connection is in slip waist hole (106), and fixedly connected with installation cover II (703) on the output shaft of telescopic machanism III (702).
9. The welding robot based on the mechanical vision as claimed in claim 8, wherein: and welding heads can be detachably and fixedly connected to the mounting sleeve I (408) and the mounting sleeve II (703).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010501605.4A CN111604637A (en) | 2020-06-04 | 2020-06-04 | Welding robot based on mechanical vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010501605.4A CN111604637A (en) | 2020-06-04 | 2020-06-04 | Welding robot based on mechanical vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111604637A true CN111604637A (en) | 2020-09-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010501605.4A Withdrawn CN111604637A (en) | 2020-06-04 | 2020-06-04 | Welding robot based on mechanical vision |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112045439A (en) * | 2020-09-05 | 2020-12-08 | 哈尔滨商业大学 | Intelligent processing equipment for fire extinguishing bomb |
| CN112222709A (en) * | 2020-11-10 | 2021-01-15 | 岳西十行机械设备有限公司 | Attitude adjusting method of clutch type welding clamp |
| CN113618299A (en) * | 2021-08-24 | 2021-11-09 | 青岛金利天源智能科技有限公司 | Full-automatic welding robot based on machine vision |
| CN113733064A (en) * | 2021-09-17 | 2021-12-03 | 廊坊中油朗威工程项目管理有限公司 | Pipeline welding supervision robot |
-
2020
- 2020-06-04 CN CN202010501605.4A patent/CN111604637A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112045439A (en) * | 2020-09-05 | 2020-12-08 | 哈尔滨商业大学 | Intelligent processing equipment for fire extinguishing bomb |
| CN112222709A (en) * | 2020-11-10 | 2021-01-15 | 岳西十行机械设备有限公司 | Attitude adjusting method of clutch type welding clamp |
| CN112222709B (en) * | 2020-11-10 | 2023-07-14 | 岳西十行机械设备有限公司 | Method for adjusting posture of clutch type welding fixture |
| CN113618299A (en) * | 2021-08-24 | 2021-11-09 | 青岛金利天源智能科技有限公司 | Full-automatic welding robot based on machine vision |
| CN113618299B (en) * | 2021-08-24 | 2023-10-31 | 深圳市智哥机器人系统有限公司 | Full-automatic welding robot based on machine vision |
| CN113733064A (en) * | 2021-09-17 | 2021-12-03 | 廊坊中油朗威工程项目管理有限公司 | Pipeline welding supervision robot |
| CN113733064B (en) * | 2021-09-17 | 2024-03-15 | 廊坊中油朗威工程项目管理有限公司 | Pipeline welding supervision robot |
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Application publication date: 20200901 |